ROS1 Publish Imu
This node publishes IMU data as a ROS1 IMU message
Installation
To use this Node, you must enable omni.isaac.ros_bridge
in the Extension Manager.
Inputs
Name |
Type |
Description |
Default |
---|---|---|---|
execIn |
|
The input execution port |
|
nodeNamespace |
|
Namespace of ROS1 Node, prepends any published/subscribed topic by the node namespace |
|
frameId |
|
FrameId for ROS1 message |
sim_imu |
topicName |
|
Name of ROS1 Topic |
imu |
queueSize |
|
The number of messages to queue up before throwing some away, in case messages are collected faster than they can be sent |
10 |
Timestamp (timeStamp) |
|
ROS1 Timestamp in seconds |
0.0 |
publishOrientation |
|
Include orientation in msg |
True |
publishLinearAcceleration |
|
Include Linear acceleration in msg |
True |
publishAngularVelocity |
|
Include Angular velocity in msg |
True |
orientation |
|
Orientation as a quaternion (IJKR) |
[0.0, 0.0, 0.0, 1.0] |
linearAcceleration |
|
Linear acceleration vector in m/s^2 |
[0.0, 0.0, 0.0] |
angularVelocity |
|
Angular velocity vector in rad/s |
[0.0, 0.0, 0.0] |